Abstract: A system for debriding an infected implant area includes an ultrasonic tool, a navigation system for tracking movement of the ultrasonic tool, and a processing circuit programmed to determine an area to debride and control the ultrasonic tool to automatically adjust a parameter of the ultrasonic tool to provide a first vibrational characteristic when debridement is of a surface of the implant and a second vibrational characteristic when the debridement is of patient tissue.

Abstract: A method of operating a joint positioner includes securing a first holder of the joint positioner to a first portion of a limb and a second holder of the joint positioner to a second portion of the limb, manually articulating a mechanical arm extending between the first holder and the second holder to a position causing tension in soft tissue of the limb, and switching between a first mode in which arm segments of the mechanical arm are manually repositionable and a second mode in which the mechanical arm is fixed in the position.

Abstract: A method for registering a virtual model of a bone to the bone includes displaying, on the virtual model of the bone, a plurality of registration points indicating locations on the bone to be touched with a tracked probe, tracking positions of the tracked probe as the tracked probe is moved to the locations on the bone, and registering the virtual model of the bone to the bone based on tracked positions of the tracked probe corresponding to the plurality of registration points.

Abstract: Surgical systems involve a robotic manipulator that moves a surgical tool to remove material from a workpiece and a navigation system to track a pose of the surgical tool relative to the workpiece. A control system determines a non-homogenous density distribution of the workpiece. The control system generates a tool path based on the density distribution. The control system controls the robotic manipulator to move the surgical tool along the tool path to remove the material from the workpiece while accounting for the density distribution. As the surgical tool moves along the tool path, the control system adjusts one or more operating parameters of the surgical tool to account for the density distribution, such as by adjusting the feed rate of the surgical tool, the cutting speed of the surgical tool, and/or the cutting depth of the surgical tool.

Abstract: A surgical system includes a controller and a robotic arm configured to hold a surgical tool at a distal end of the robotic arm. The controller is configured to define, based on a surgical plan, a target pose relative to a tracked position of an anatomical feature, generate a planned path for moving the surgical tool held by the robotic arm from a first pose to the target pose, output control signals configured to cause automated motion of the robotic arm based on the planned path, detect a deviation of the surgical tool from the planned path, and in response to detecting the deviation of the distal end from the planned path, update the control signals to stop the automated motion of the robotic arm.

Abstract: A method includes obtaining a model of a bone of a patient, identifying a plurality of landmarks of the model of the bone, defining a plane of the patient, determining an axis based on the plurality of landmarks and the plane, and planning a planned pose of an implant relative to the bone based on a relationship between a model of the implant, the axis, and the plane.

Abstract: Surgical systems and methods for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and controller(s) that generate a virtual boundaries delineating a portions of the anatomy allowed to be removed by the surgical tool. The controller(s) control the robotic manipulator to autonomously move the surgical tool in relation to a first virtual boundary and according to a first feed rate or first frequency of path oscillations to remove a first portion. The controller(s) control the robotic manipulator to autonomously move the surgical tool in relation to a second virtual boundary that is spaced from the first virtual boundary, and according to a different feed rate or different frequency of path oscillations, to remove a second portion.

Abstract: A method of smoothing a surface mesh includes determining first angles between a first direction and vectors normal to a plurality of faces defined in the surface mesh, determining a set of artifact vertices by including a first vertex of the surface mesh in the set of artifact vertices responsive to the first angles associated with faces adjacent to the first vertex satisfying a first condition, calculating a weighted value for a second vertex of the surface mesh based on a distance from the second vertex to a nearest artifact vertex in the set of artifact vertices, and generating a smoothed surface mesh by using the weighted value in a smoothing algorithm applied to the surface mesh.

Abstract: A surgical driving system includes a driver and a cutting accessory. The driver includes a body driven by a motor. First and second arms project from the body, each arm having its own alignment tip. The arms define a channel between each other. The alignment tips are offset. Each tip includes two alignment surfaces facing away from each other. The cutting accessory includes a distal portion having a cutting tip and being coupled to a tool shaft. A proximal portion of the cutting accessory is coupled to the tool shaft and received within the channel. The proximal portion has a drive section with a flat to engage the arms of the driver. The proximal portion also has an alignment section separate from and proximal to the drive section to engage the alignment tips of the driver to orient the drive section relative to the arms.

Abstract: A method of operation of a robotically-assisted surgical system includes capturing a first pose of a surgical tool during the operation of the robotically-assisted surgical system, intraoperatively defining a target orientation for the surgical tool using the first pose of the surgical tool, and controlling a robotic device to automatically move the surgical tool to the target orientation.

Abstract: A method of assisting a joint arthroplasty procedure for a joint comprising a bone includes determining, by tracking a cutting tool during a first stage of modifying the bone with the cutting tool, a surface corresponding to a bone modification created by the cutting tool during the first stage of modifying the bone, generating, based on the surface and an implant geometry, a planned bone resection to be completed during a second stage of modifying the bone, and assisting, by a robot controlled using the planned bone resection, execution of the second stage of modifying the bone.

Abstract: A surgery system includes a mechanical hub, an anatomy support structure coupled to the mechanical hub, a first moveable support structure, and an imaging system comprising a source element and a detector element. The imaging system is coupled to the mechanical hub via the first moveable support structure such that the source element and the detector element are repositionable relative to the anatomy support structure. The surgical system also includes a second moveable support structure coupled to the mechanical hub and a surgical instrument coupled to the mechanical hub via the second moveable support structure.

Abstract: The present teachings provide for a hand-held robotic instrument for use with a surgical tool. In one configuration, the instrument comprises a housing configured to be held by a user, the housing defining a remote axis of motion. Control systems for controlling the hand-held robotic instrument are also contemplated, which are capable of switching control modes based on fixation, boundaries, and/or frames.

Abstract: A clamp assembly for use with a surgical attachment system for fixing a navigation tracker to a portion of bone. The clamp assembly includes a first clamp jaw with a first engagement surface and a second clamp jaw with a second engagement surface. The clamp assembly includes a linear driver with a shaft. The second clamp jaw is coupled to the first clamp jaw at a fixed pivot and coupled to the shaft at a moving pivot. The linear driver translates the shaft in a first direction to pivot the second engagement surface towards the first engagement surface. The linear driver translates the shaft in a second direction opposite to the first direction to pivot the second engagement surface away from the first engagement surface.

Abstract: A sterile drape assembly for a surgical robot including a robotic arm with a plurality of links and a plurality of joints. The sterile drape assembly includes a surgical drape adapted to be disposed over the robotic arm and a drape belt configured to be secured to the surgical drape. The drape belt has at least one optical tracking element that moves with the drape belt as the drape belt is secured to the surgical drape.

Abstract: A surgical system includes a robot arm, a shaft held by the robot arm at a mount between a first end of the shaft and a second end of the shaft, a power tool operable to provide a force at the first end of the shaft, and a control system programmed to control the robot arm to maintain the second end at an intended pose in an acetabulum of a patient.

Abstract: A blade mounting assembly for coupling a saw blade to a surgical saw. The blade mounting assembly including a blade clamp guard and a blade clamp moveably coupled to a drive hub of the surgical saw. The blade clamp guard defining a recess and a blade clamp at least partially disposed within the recess. The blade clamp further comprising a safety indicator. The blade clamp may be configured to move relative to the blade camp guard, the blade clamp moving between a first position where the safety indicator is exposed and a second position where the safety indicator is concealed by the blade clamp guard. The blade mounting assembly may also comprise a biasing mechanism disposed between the blade clamp guard and the blade clamp. The biasing mechanism configured to urge the blade clamp guard away from the blade clamp.

Abstract: A method includes generating a surgical plan for aligning a structure with a first bone segment and a second bone segment, and controlling a controllable guide structure to guide a cutting tool to sculpt the first bone segment, the second bone segment, and the structure based on the surgical plan. The method can include providing the first bone segment with a first bone mating surface by sculpting the first bone segment, providing the second bone segment with a second bone mating surface by sculpting the second bone segment, and providing, by sculpting the structure, the structure with at least one structure mating surface that is complementary to at least one of the first bone mating surface or the second bone mating surface.

Abstract: A surgical robotics system includes a robot, a tool coupled to the robot, and control circuitry programmed to determine a movement of the tool to within a threshold distance relative to a planned path and control, in response to the movement, the robot to automatically move the tool to a target point on the planned path.

Abstract: Robotic system and methods for robotic arthroplasty are provided. The robotic system includes a machining system and a guidance system. The guidance station tracks movement of one or more of various objects in the operating room, such as a surgical tool, a tibia of a patient, a talus of the patient, or a component of an implant. The guidance system tracks these objects for purposes of displaying their relative positions and orientations to the surgeon and, in some cases, for purposes of controlling movement of the surgical tool of the machining system relative to virtual cutting boundaries or other virtual objects associated with the tibia and talus to facilitate preparation of bone to receive an ankle implant system.